What's Changed

• Update legacy trajopt to leverage trajopt_common::TrajOptCollisionConfig by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/455
• Minor updates by @marip8 in https://github.com/tesseract-robotics/trajopt/pull/456
• Update cmake format CI to 22.04 image by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/459
• Removed weighted sum methods from legacy Trajopt by @marip8 in https://github.com/tesseract-robotics/trajopt/pull/457
• Update OSQP workspace, instead of recreating by @rjoomen in https://github.com/tesseract-robotics/trajopt/pull/446
• Add boost plugin loader to windows rosinstall by @Levi-Armstrong in https://github.com/tesseract-robotics/trajopt/pull/460

Full Changelog: https://github.com/tesseract-robotics/trajopt/compare/0.29.1...0.30.0